NormalSpace.h
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3 /*
4 
5 Copyright (c) 2010--2018,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
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34 */
35 #pragma once
36 
37 #include "PointMatcher.h"
38 
39 template<typename T>
41 {
42  // Type definitions
44  typedef typename PM::DataPoints DataPoints;
46 
53 
54  typedef typename DataPoints::Index Index;
55 
57 
58  inline static const std::string description()
59  {
60  return "Normal Space Sampling (NSS) \\cite{Rusinkiewicz2001}. Construct a set of buckets in the normal-space, then put all points of the data into buckets based on their normal direction; Finally, uniformly pick points from all the buckets until the desired number of points is selected. **Required** to compute normals as pre-step.";
61  }
62 
63  inline static const ParametersDoc availableParameters()
64  {
65  return {
66  {"nbSample", "Number of point to select.", "5000", "1", "4294967295", &P::Comp<std::size_t>},
67  {"seed", "Seed for the random generator.", "1", "0", "4294967295", &P::Comp<std::size_t>},
68  {"epsilon", "Step of discretization for the angle spaces", "0.09817477042" /* PI/32 */, "0.04908738521" /* PI/64 */, "3.14159265359" /* PI */, &P::Comp<T>}
69  };
70  }
71 
72 public:
73  const std::size_t nbSample;
74  const std::size_t seed;
75  const T epsilon;
76 
77  //Ctor, uses parameter interface
79  //NormalSpaceDataPointsFilter();
80 
81  //Dtor
83 
84  virtual DataPoints filter(const DataPoints& input);
85  virtual void inPlaceFilter(DataPoints& cloud);
86 
87 private:
88  inline std::size_t bucketIdx(T theta, T phi) const;
89 
90  const std::size_t nbBucket;
91 };
92 
93 
NormalSpaceDataPointsFilter::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: NormalSpace.h:52
NormalSpaceDataPointsFilter::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: NormalSpace.h:51
NormalSpaceDataPointsFilter::bucketIdx
std::size_t bucketIdx(T theta, T phi) const
Definition: NormalSpace.cpp:169
NormalSpaceDataPointsFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: NormalSpace.h:63
NormalSpaceDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: NormalSpace.cpp:69
build_map.T
T
Definition: build_map.py:34
NormalSpaceDataPointsFilter::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: NormalSpace.h:47
NormalSpaceDataPointsFilter::P
PointMatcherSupport::Parametrizable P
Definition: NormalSpace.h:48
NormalSpaceDataPointsFilter::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: NormalSpace.h:50
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
NormalSpaceDataPointsFilter::~NormalSpaceDataPointsFilter
virtual ~NormalSpaceDataPointsFilter()
Definition: NormalSpace.h:82
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
testing::internal::string
::std::string string
Definition: gtest.h:1979
NormalSpaceDataPointsFilter::seed
const std::size_t seed
Definition: NormalSpace.h:74
PointMatcher::DataPoints::InvalidField
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
NormalSpaceDataPointsFilter::NormalSpaceDataPointsFilter
NormalSpaceDataPointsFilter(const Parameters &params=Parameters())
Definition: NormalSpace.cpp:47
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
align_sequence.params
params
Definition: align_sequence.py:13
NormalSpaceDataPointsFilter::PM
PointMatcher< T > PM
Definition: NormalSpace.h:43
PointMatcher::DataPointsFilter
A data filter takes a point cloud as input, transforms it, and produces another point cloud as output...
Definition: PointMatcher.h:440
NormalSpaceDataPointsFilter::Index
DataPoints::Index Index
Definition: NormalSpace.h:54
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
PointMatcher::DataPoints::Index
Matrix::Index Index
An index to a row or a column.
Definition: PointMatcher.h:218
NormalSpaceDataPointsFilter::DataPoints
PM::DataPoints DataPoints
Definition: NormalSpace.h:44
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
NormalSpaceDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: NormalSpace.h:49
NormalSpaceDataPointsFilter::description
static const std::string description()
Definition: NormalSpace.h:58
NormalSpaceDataPointsFilter::nbSample
const std::size_t nbSample
Definition: NormalSpace.h:73
PointMatcher.h
public interface
NormalSpaceDataPointsFilter::DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: NormalSpace.h:45
NormalSpaceDataPointsFilter::nbBucket
const std::size_t nbBucket
Definition: NormalSpace.h:90
NormalSpaceDataPointsFilter::InvalidField
PointMatcher< T >::DataPoints::InvalidField InvalidField
Definition: NormalSpace.h:56
NormalSpaceDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: NormalSpace.cpp:59
NormalSpaceDataPointsFilter::epsilon
const T epsilon
Definition: NormalSpace.h:75
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
NormalSpaceDataPointsFilter
Definition: NormalSpace.h:40


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